public override void processCollision(CollisionObject col0, CollisionObject col1, DispatcherInfo dispatchInfo, ref ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
return;
resultOut.PersistentManifold = m_manifoldPtr;
SphereShape sphere0 = (SphereShape)col0.CollisionShape;
SphereShape sphere1 = (SphereShape)col1.CollisionShape;
btVector3 diff = col0.WorldTransform.Origin - col1.WorldTransform.Origin;
float len = diff.Length;
float radius0 = sphere0.Radius;
float radius1 = sphere1.Radius;
#if CLEAR_MANIFOLD
m_manifoldPtr->clearManifold(); //don't do this, it disables warmstarting
#endif
///iff distance positive, don't generate a new contact
if (len > (radius0 + radius1))
{
#if! CLEAR_MANIFOLD
resultOut.refreshContactPoints();
#endif //CLEAR_MANIFOLD
return;
}
///distance (negative means penetration)
float dist = len - (radius0 + radius1);
btVector3 normalOnSurfaceB = new btVector3(1, 0, 0);
if (len > BulletGlobal.SIMD_EPSILON)
{
//normalOnSurfaceB = diff / len;
btVector3.Divide(ref diff, len, out normalOnSurfaceB);
}
///point on A (worldspace)
///btVector3 pos0 = col0->getWorldTransform().getOrigin() - radius0 * normalOnSurfaceB;
///point on B (worldspace)
btVector3 pos1;// = col1.WorldTransform.Origin + radius1 * normalOnSurfaceB;
{
btVector3 temp;
btVector3.Multiply(ref normalOnSurfaceB, radius1, out temp);
btVector3.Add(ref col1.WorldTransform.Origin, ref temp, out pos1);
}
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.addContactPoint(ref normalOnSurfaceB, ref pos1, dist);
#if! CLEAR_MANIFOLD
resultOut.refreshContactPoints();
#endif //CLEAR_MANIFOLD
}
public override void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ref ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
return;
CollisionObject sphereObj = m_isSwapped ? body1 : body0;
CollisionObject boxObj = m_isSwapped ? body0 : body1;
SphereShape sphere0 = (SphereShape)sphereObj.CollisionShape;
//btVector3 normalOnSurfaceB;
btVector3 pOnBox=btVector3.Zero, pOnSphere=btVector3.Zero;
btVector3 sphereCenter = sphereObj.WorldTransform.Origin;
float radius = sphere0.Radius;
float dist = getSphereDistance(boxObj, ref pOnBox, ref pOnSphere, sphereCenter, radius);
resultOut.PersistentManifold = m_manifoldPtr;
if (dist < BulletGlobal.SIMD_EPSILON)
{
btVector3 normalOnSurfaceB;// = (pOnBox - pOnSphere).normalize();
(pOnBox - pOnSphere).normalize(out normalOnSurfaceB);
/// report a contact. internally this will be kept persistent, and contact reduction is done
resultOut.addContactPoint(ref normalOnSurfaceB, ref pOnBox, dist);
}
if (m_ownManifold)
{
if (m_manifoldPtr.NumContacts != 0)
{
resultOut.refreshContactPoints();
}
}
}
public override void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ref ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
{
//swapped?
m_manifoldPtr = m_dispatcher.getNewManifold(body0, body1);
m_ownManifold = true;
}
resultOut.PersistentManifold = m_manifoldPtr;
//comment-out next line to test multi-contact generation
//resultOut->getPersistentManifold()->clearManifold();
ConvexShape min0 = (ConvexShape)(body0.CollisionShape);
ConvexShape min1 = (ConvexShape)(body1.CollisionShape);
btVector3 normalOnB;
btVector3 pointOnBWorld;
if ((min0.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE) && (min1.ShapeType == BroadphaseNativeTypes.CAPSULE_SHAPE_PROXYTYPE))
{
CapsuleShape capsuleA = (CapsuleShape)min0;
CapsuleShape capsuleB = (CapsuleShape)min1;
btVector3 localScalingA = capsuleA.LocalScaling;
btVector3 localScalingB = capsuleB.LocalScaling;
float threshold = m_manifoldPtr.ContactBreakingThreshold;
float dist = capsuleCapsuleDistance(out normalOnB, out pointOnBWorld, capsuleA.HalfHeight, capsuleA.Radius,
capsuleB.HalfHeight, capsuleB.Radius, capsuleA.UpAxis, capsuleB.UpAxis,
body0.WorldTransform, body1.WorldTransform, threshold);
if (dist < threshold)
{
Debug.Assert(normalOnB.Length2 >= (BulletGlobal.SIMD_EPSILON * BulletGlobal.SIMD_EPSILON));
resultOut.addContactPoint(ref normalOnB, ref pointOnBWorld, dist);
}
resultOut.refreshContactPoints();
return;
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
m_sepDistance.updateSeparatingDistance(body0->getWorldTransform(),body1->getWorldTransform());
}
if (!dispatchInfo.m_useConvexConservativeDistanceUtil || m_sepDistance.getConservativeSeparatingDistance()<=0.f)
#endif //USE_SEPDISTANCE_UTIL2
{
ClosestPointInput input;
GjkPairDetector gjkPairDetector = new GjkPairDetector(min0, min1, m_simplexSolver, m_pdSolver);
//TODO: if (dispatchInfo.m_useContinuous)
gjkPairDetector.MinkowskiA = min0;
gjkPairDetector.MinkowskiB = min1;
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
input.m_maximumDistanceSquared = BT_LARGE_FLOAT;
} else
#endif //USE_SEPDISTANCE_UTIL2
{
input.m_maximumDistanceSquared = min0.Margin + min1.Margin + m_manifoldPtr.ContactBreakingThreshold;
input.m_maximumDistanceSquared *= input.m_maximumDistanceSquared;
}
//input.m_stackAlloc = dispatchInfo.m_stackAllocator;
input.m_transformA = body0.WorldTransform;
input.m_transformB = body1.WorldTransform;
gjkPairDetector.getClosestPoints(ref input, ref resultOut, dispatchInfo.m_debugDraw);
#if USE_SEPDISTANCE_UTIL2
btScalar sepDist = 0.f;
if (dispatchInfo.m_useConvexConservativeDistanceUtil)
{
sepDist = gjkPairDetector.getCachedSeparatingDistance();
if (sepDist>SIMD_EPSILON)
{
sepDist += dispatchInfo.m_convexConservativeDistanceThreshold;
//now perturbe directions to get multiple contact points
}
}
#endif //USE_SEPDISTANCE_UTIL2
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
//perform perturbation when more then 'm_minimumPointsPerturbationThreshold' points
if (m_numPerturbationIterations != 0 && resultOut.PersistentManifold.NumContacts < m_minimumPointsPerturbationThreshold)
{
int i;
btVector3 v0, v1;
btVector3 sepNormalWorldSpace;
//sepNormalWorldSpace = gjkPairDetector.getCachedSeparatingAxis().normalized();
gjkPairDetector.getCachedSeparatingAxis().normalized(out sepNormalWorldSpace);
btVector3.PlaneSpace1(ref sepNormalWorldSpace, out v0, out v1);
bool perturbeA = true;
float angleLimit = 0.125f * BulletGlobal.SIMD_PI;
float perturbeAngle;
float radiusA = min0.getAngularMotionDisc();
float radiusB = min1.getAngularMotionDisc();
if (radiusA < radiusB)
{
perturbeAngle = PersistentManifold.gContactBreakingThreshold / radiusA;
perturbeA = true;
}
else
{
perturbeAngle = PersistentManifold.gContactBreakingThreshold / radiusB;
perturbeA = false;
}
if (perturbeAngle > angleLimit)
perturbeAngle = angleLimit;
btTransform unPerturbedTransform;
if (perturbeA)
{
unPerturbedTransform = input.m_transformA;
}
else
{
unPerturbedTransform = input.m_transformB;
}
for (i = 0; i < m_numPerturbationIterations; i++)
{
if (v0.Length2 > BulletGlobal.SIMD_EPSILON)
{
btQuaternion perturbeRot = new btQuaternion(v0, perturbeAngle);
float iterationAngle = i * (BulletGlobal.SIMD_2_PI / m_numPerturbationIterations);
btQuaternion rotq = new btQuaternion(sepNormalWorldSpace, iterationAngle);
if (perturbeA)
{
#region input.m_transformA.Basis = new btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body0.WorldTransform.Basis;
{
btMatrix3x3 temp = new btMatrix3x3(rotq.inverse() * perturbeRot * rotq);
btMatrix3x3.Multiply(ref temp, ref body0.WorldTransform.Basis, out input.m_transformA.Basis);
}
#endregion
input.m_transformB = body1.WorldTransform;
#if DEBUG
dispatchInfo.m_debugDraw.drawTransform(ref input.m_transformA, 10.0f);
#endif //DEBUG_CONTACTS
}
else
{
input.m_transformA = body0.WorldTransform;
#region input.m_transformB.Basis = new btMatrix3x3(rotq.inverse() * perturbeRot * rotq) * body1.WorldTransform.Basis;
{
btMatrix3x3 temp = new btMatrix3x3(rotq.inverse() * perturbeRot * rotq);
btMatrix3x3.Multiply(ref temp, ref body1.WorldTransform.Basis, out input.m_transformB.Basis);
}
#endregion
#if DEBUG
dispatchInfo.m_debugDraw.drawTransform(ref input.m_transformB, 10.0f);
#endif
}
PerturbedContactResult perturbedResultOut = new PerturbedContactResult(input.m_transformA, input.m_transformB, unPerturbedTransform, perturbeA, dispatchInfo.m_debugDraw);
gjkPairDetector.getClosestPoints(ref input, ref perturbedResultOut, ref resultOut, dispatchInfo.m_debugDraw);
}
}
}
#if USE_SEPDISTANCE_UTIL2
if (dispatchInfo.m_useConvexConservativeDistanceUtil && (sepDist>SIMD_EPSILON))
{
m_sepDistance.initSeparatingDistance(gjkPairDetector.getCachedSeparatingAxis(),sepDist,body0->getWorldTransform(),body1->getWorldTransform());
}
#endif //USE_SEPDISTANCE_UTIL2
}
if (m_ownManifold)
{
resultOut.refreshContactPoints();
}
}
public override void processCollision(CollisionObject body0, CollisionObject body1, DispatcherInfo dispatchInfo, ref ManifoldResult resultOut)
{
if (m_manifoldPtr == null)
return;
CollisionObject convexObj = m_isSwapped ? body1 : body0;
CollisionObject planeObj = m_isSwapped ? body0 : body1;
ConvexShape convexShape = (ConvexShape)convexObj.CollisionShape;
StaticPlaneShape planeShape = (StaticPlaneShape)planeObj.CollisionShape;
btVector3 planeNormal = planeShape.PlaneNormal;
//const btScalar& planeConstant = planeShape->getPlaneConstant();
//first perform a collision query with the non-perturbated collision objects
{
btQuaternion rotq = new btQuaternion(0, 0, 0, 1);
collideSingleContact(rotq, body0, body1, dispatchInfo, ref resultOut);
}
if (resultOut.PersistentManifold.NumContacts < m_minimumPointsPerturbationThreshold)
{
btVector3 v0, v1;
btVector3.PlaneSpace1(ref planeNormal, out v0, out v1);
//now perform 'm_numPerturbationIterations' collision queries with the perturbated collision objects
float angleLimit = 0.125f * BulletGlobal.SIMD_PI;
float perturbeAngle;
float radius = convexShape.getAngularMotionDisc();
perturbeAngle = PersistentManifold.gContactBreakingThreshold / radius;
if (perturbeAngle > angleLimit)
perturbeAngle = angleLimit;
btQuaternion perturbeRot = new btQuaternion(v0, perturbeAngle);
for (int i = 0; i < m_numPerturbationIterations; i++)
{
float iterationAngle = (float)i * (BulletGlobal.SIMD_2_PI / (float)m_numPerturbationIterations);
btQuaternion rotq = new btQuaternion(planeNormal, iterationAngle);
collideSingleContact(rotq.inverse() * perturbeRot * rotq, body0, body1, dispatchInfo, ref resultOut);
}
}
if (m_ownManifold)
{
if (m_manifoldPtr.NumContacts != 0)
{
resultOut.refreshContactPoints();
}
}
}
